一类串行关节式机器人正运动学建模与仿真研究  

A Kind of Serial Articulated Robot Kinematics Modeling

作　　者：杨彦平[1] 潘松峰[1] 李鑫[1] 陈玉喜[1] 尹宁宁[1] 

机构地区：[1]青岛大学自动化与电气工程学院,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2016年第4期99-103,共5页Journal of Qingdao University(Engineering & Technology Edition)

摘　　要：为了使机器人复杂的几何参数得到更好的处理,本文依据实验室串行关节式机器人具体的结构与特点,建立了机器人正运动学模型,即已知机器人各关节旋转的角度,得出机器人末端最终的位置和姿态。采用D-H规则在机器人的连杆上分别建立一个坐标系,求出从端点坐标到基坐标的变换矩阵T,进而建立机器人的正运动学方程;同时,利用Matlab中Robotics Toolbox建立实验室机器人模型,并采用Matlab中的FKINE函数对初始位置进行仿真验证。仿真结果表明,该模型与实验室机器人初始位置一致,说明了机器人模型的正确性。该研究为机器人的轨迹规划等应用奠定了理论基础。In order to obtain better treatment the robot complex geometrical parameters, according to article Se-rial articulated robot laboratory specific structure and characteristics, this paper establishes of a forward kine-matics model, and obtainsthe end-finalposition and attitude based on each joint angle of rotation of the known robot. DH rules were established using a coordinate system on the link robot coordinates obtained from the endpoint to the base coordinate transformation matrix T, thereby establishing positive kinematic equat ions of the robot; while taking advantage of Matlab Robotics Toolbox establishing laboratory robot model, and using Matlab function in FKINE initial position simulation. Simulation results show that the initial position of the model is consistent with laboratory robots, and this shows the correctness of the model. The researc. 000 0h has laid a theoretical foundation for robot trajectory planning applications.

关 键 词：机器人 运动学 模型 D-H规则 MATLAB 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]